“The decision was made after much consideration and time,” Millan said in a website post. “We remain caring friends and are fully committed to the co-parenting of our two boys.”

Millan ‘s wife, IlusiÃ³n, filed official divorce papers in Los Angeles on Friday. The reason for the divorce was cited as “irreconcilable differences” according to court documents. IlusiÃ³n is seeking primary custody over the former couple’s two sons, Andre and Calvin, along with spousal support from Milan.

Cesar Millan is a self-taught professional dog trainer and has been hosting The Dog Whisperer on the National Geographic Channel since 2004.